Download Synchronize positioning

user's manual
nx frequency converters
3-speed positioning application
apfiff15
2 • vacon
Introduction
INDEX
1.
2.
3.
4.
5.
Introduction ..................................................................................................................................... 3
Control I/O ....................................................................................................................................... 4
Control signal logic in Synchronize Positioning Application ......................................................... 5
Positioning sequence ...................................................................................................................... 6
Synchronize Positioning Application – Parameter lists................................................................. 7
5.1
Monitoring values (Control keypad: menu M1) ...................................................................... 7
5.2
Control/Status Words ............................................................................................................. 9
5.3
Basic parameters (Control keypad: Menu M2 Æ G2.1) ....................................................... 11
5.4
Input signals (Control keypad: Menu M2 Æ G2.2)................................................................ 12
5.5
Output signals (Control keypad: Menu M2 Æ G2.3) ............................................................. 14
5.6
Drive control parameters (Control keypad: Menu M2 Æ G2.4) ........................................... 16
5.7
Reserved................................................................................................................................ 16
5.8
Motor control parameters (Control keypad: Menu M2 Æ G2.6) .......................................... 17
5.9
Protections (Control keypad: Menu M2 Æ G2.7).................................................................. 19
5.10 Autorestart parameters (Control keypad: Menu M2 Æ G2.8) ............................................. 20
5.11 Positioning parameters (Control keypad: Menu M2 Æ G2.9) .............................................. 21
5.12 Fixed Positions parameters (Control keypad: Menu M2 Æ G2.10) ..................................... 22
5.13 Brake Control parameters (Control keypad: Menu M2 Æ G2.11) ....................................... 22
5.14 Fieldbus parameters (Control Keypad: Menu M2 ÆG2.12)................................................. 23
5.15 SystemBus parameters (Control keypad: Menu M2 Æ G2.11) ............................................ 24
5.16 Keypad control (Control keypad: Menu M3) ......................................................................... 24
5.17 System menu (Control keypad: M6) ..................................................................................... 24
5.18 Expander boards (Control keypad: Menu M7)...................................................................... 24
6. Description of parameters............................................................................................................ 25
7. Synchronise Positioning parameters ........................................................................................... 26
7.1
Keypad control parameters .................................................................................................. 34
8. Appendices .................................................................................................................................... 35
8.1
External brake control with additional limits (ID’s 315, 316, 346 to 349, 352, 353) ............ 35
8.2
Closed loop parameters (ID’s 612 to 621) ............................................................................ 37
8.3
Parameters of motor thermal protection (ID’s 704 to 708):................................................ 37
8.4
Parameters of Stall protection (ID’s 709 to 712): ................................................................ 38
8.5
Parameters of Underload protection (ID’s 713 to 716):....................................................... 38
8.6
Fieldbus control parameters (ID’s 850 to 859)..................................................................... 38
9. Faults and fault codes................................................................................................................... 39
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Introduction
vacon • 3
Synchronize positioning
1.
Introduction
Frequency converter works as a positioning controller with the help of encoder. Encoder should be
installed on motor shaft but also it’s possible to use encoder after gear. When encoder is in motor
shaft it’s possible to use closed loop motor control. This makes positioning more accurate.
Application support also System Bus communication this communication makes possible to
synchronization with two drives. Master drive sends it’s actual position to Follower drive and
follower correct it’s speed reference to stay in position window if follower drive fails to stay in
window follower sends stop request to master an both drive stops at the same time with minimum
position difference.
Additional functions:
•
•
•
•
•
•
•
•
•
•
•
•
Programmable Start/Stop and Reverse signal logic
Reference scaling
One frequency limit supervision
Second ramps and S-shape ramp programming
Programmable start and stop functions
DC-brake at stop
One prohibit frequency area
Programmable U/f curve and switching frequency
Auto restart
Motor thermal and stall protection: Programmable action; off, warning, fault
Automatic encoder recognition (Incremental/Absolute)
Auto stop when calibrated
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2.
Control I/O
Control I/O
Reference potentiometer,
1…10 kΩ
READY
mA
NXOPTA1
Terminal
1
+10Vref
2
AI1+
Signal
Reference output
Analogue input, voltage range
0—10V DC
Description
Voltage for potentiometer, etc.
Voltage input frequency reference
3
4
5
AI1AI2+
AI2-
I/O Ground
Analogue input, current range
0—20mA
Ground for reference and controls
Current input frequency reference
6
7
8
+24V
GND
DIN1
Voltage for switches, etc. max 0.1 A
Ground for reference and controls
Contact closed = start forward
9
DIN2
10
DIN3
Control voltage output
I/O ground
Start forward
(programmable)
Start reverse
(programmable)
Preset Speed (programmable)
11
CMA
Common for DIN 1—DIN 3
12
13
14
+24V
GND
DIN4
15
DIN5
16
DIN6
17
18
19
20
CMB
AO1+
AO1DO1
Control voltage output
I/O ground
Reset calibration
(programmable)
Active positioning
(programmable)
Calibration input
(programmable)
Common for DIN4—DIN6
Output frequency
Analogue output
Digital output
READY
Contact closed = start reverse
Contact open = Not Activ
Contact closed = Preset speed activ
Connect to GND or +24V
Voltage for switches (see #6)
Ground for reference and controls
Raising edge calibration
Connect to GND or +24V
Programmable
Range 0—20 mA/RL, max. 500Ω
Programmable
Open collector, I≤50mA, U≤48 VDC
NXOPTA2
Calibrated
220
VAC
21
22
23
RO1
RO1
RO1
Relay output 1
Calibration OK
Programmable
24
25
26
RO2
RO2
RO2
Relay output 2
FAULT
Programmable
Table 2-1. Synchronize Positioning application default I/O configuration.
Note: See jumper selections below.
More information in the product’s
User's Manual.
Jumper block X 3 :
CM A a nd CM B grounding
CMB connected to GN D
CMA connected to GN D
CMB isolated from GN D
CMA isolated from GN D
CMB and CMA
internally connected together,
isolated from GN D
= Factory default
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Control signal logic in Synchronize Positioning Application
3.
vacon • 5
Control signal logic in Synchronize Positioning Application
3.2 Keypad reference
2.1.11 I/O Reference
2.1.12 Keypad Ctrl Reference
2.1.13 Fieldbus Ctrl Reference
2.1.14 Preset Speed 1
2.1.15 Preset Speed 2
DIN4
DIN5
AI1
AI2
3.1 Control place
Internal frequency
reference
Reference from fieldbus
Reset button
Start/Stop buttons
Start/Stop from fieldbus
Direction from fieldbus
DIN1
DIN2
Start forward
(programmable)
Start reverse (programmable)
Programmable
Start/Stop and
reverse logic
Start/Stop
Internal Start/Stop
Reverse
Internal reverse
3.3 Keypad direction
DIN6
DIN3
Fault reset input
>1
Internal fault reset
External fault input (programmable)
NX12k01
Figure 3-1. Control signal logic of the Synchronize Positioning Application
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4.
Positioning sequence
Positioning sequence
Speed [Hz]
High Level Speed
P2.9.2.4
Mid Level Speed
STOP HYSTERES
P2.9.2.9
P2.9.2.6
Low Level Speed
P2.9.2.8
Speed group 2
HLS 2
P2.9.2.10
MLS 2
P2.9.2.11
LLS 2
P2.9.2.12
Trip [ANY]
Mid Speed Distance
P2.9.2.5
Low Speed Distance
P2.10.8
Figure 4-1. Positioning sequence of the Synchronize Positioning Application
Positioning uses three different speed. When approaching the target, speed is decelerated with
three different phases. There are also two different speed groups, for example positioning with or
without the load.
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4
Synchronize Positioning Application – Parameter lists
5.
vacon • 7
Synchronize Positioning Application – Parameter lists
On the next pages you will find the lists of parameters within the respective parameter groups. The
parameter descriptions are given on pages 25 to 34. The descriptions are arranged according to the
ID number of the parameter.
Column explanations:
Code
Parameter
Min
Max
Unit
Default
Cust
ID
5.1
= Location indication on the keypad; Shows the operator the present parameter
number
= Name of parameter
= Minimum value of parameter
= Maximum value of parameter
= Unit of parameter value; Given if available
= Value preset by factory
= Customer’s own setting
= ID number of the parameter
= In parameter row: Use TTF method to program these parameters.
= On parameter code: Parameter value can only be changed after the frequency
converter has been stopped.
Monitoring values (Control keypad: menu M1)
The monitoring values are the actual values of parameters and signals as well as statuses and
measurements. Monitoring values cannot be edited.
See the product’s User’s Manual for more information.
Code
V1.1.1
Parameter
Output frequency
Frequency reference
Unit
Hz
Hz
ID
1
25
V1.1.3
V1.1.4
Motor speed
Motor current
V1.1.5
Motor torque
rpm
A
%
2
3
4
V1.1.6
V1.1.7
V1.1.8
V1.1.9
V1.1.10
V1.1.11
V1.1.12
V1.1.13
V1.1.14
Motor power
Motor voltage
DC link voltage
Unit temperature
Motor temperature
Analogue input 1
Analogue input 2
DIN1, DIN2, DIN3
DIN4, DIN5, DIN6
%
V
V
°C
5
6
7
8
9
13
14
15
16
V1.1.15
DO1, RO1, RO2
V1.1.16
Analogue Iout
M1.17
Monitoring items
V1.1.2
%
V
mA
17
mA
26
Description
Output frequency to motor
Frequency reference to motor
control
Motor speed in rpm
In % of the nominal motor
torque
Motor shaft power
Heatsink temperature
Calculated motor temperature
AI1
AI2
Digital input statuses
Digital input statuses
Digital and relay output
statuses
AO1
Displays three selectable
monitoring values
Table 5-1. Basic monitoring values
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Synchronize Positioning Application – Parameter lists
Code
V1.2.1
V1.2.2
V1.2.3
V1.2.4
V1.2.5
V1.2.6
V1.2.7
V1.2.8
V1.2.9
Parameter
Actual Position
Target Position
Master Position
Position error
ENC Revolution
ENC Fragment
ABS Revolution
ABS Fragments
Scaled ABS Position
Unit
ID
1551
1553
1623
1625
1580
1581
1629
1630
1632
Description
Actual position in user units
Target position in user units
Received by follower
Error of master and follower
Rounds of incremental
Fragments of incremental
Absolute encoder
Absolute encoder
Scaled value for incremental
monitor
ID
1700
Description
Position Control Word (PCW)
from fielbus
Position Status Word (PSW) to
fielbus
Position reference from fielbus
Table 5-2. Position monitoring values
Code
V1.3.1
V1.3.2
V1.3.3
V1.3.4
V1.3.5
V1.3.6
V1.3.7
Parameter
FB Position Control
Word
FB Position Status
Word
FB Position
Reference
FB Target Position
Unit
1701
1730
1633
1634
FB Actual Position
FB Maximum Speed
1721
FB General Status
Word
1750
Monitored reference with
additional offset
Monitored actual position with
additional offset
Adjust positioning maximum
speed from fielbus
Additional positioning status
word to fielbus.
Table 5-3. Fielbus monitoring values
Values that can be used as commands from fielbus are market as grey
Code
V1.4.1
V1.4.2
V1.4.3
V1.4.4
V1.4.5
V1.4.6
Parameter
Current
Torque
DC Voltage
Unit
A
%
V
Status Word
Frequency Ramp Out
Encoder 1 Frequency
ID
1113
1081
1082
1702
1129
1615
Description
Unfiltered current for MonBus
Unfiltered toque for MonBus
Unfiltered DC-Voltage for
MonBus
Application Status Word (ASW)
Output of ramp generator
Table 5-4. MonBus monitoring values
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Synchronize Positioning Application – Parameter lists
5.2
5.2.1
vacon • 9
Control/Status Words
Positioning Control Word (PCW)
FALSE
Comments
TRUE
b0
FB Calibration
Calibration input from FB
b1
FB Positioning mode ON
Positioning Command from Fielbus
b2
FB Speed Group 2
b3
b4
b5
FB Reset Calibration
Command for reseting calibration.
b6
Calibration Prohibited
Any of calibration input are ignored
b7
Set Zero Point ABS
Set Zero point for ABS Enc.
b8
Set Total Rounds ABS
Set Total rounds for ABS Enc.
b9
Set Target Offset point
Sets offset for reference position
ByPass SyncError
Fynchronization fault is ignoreg
b10
b11
b12
b13
b14
b15
Table 5-5. Positioning Control Word
5.2.2
Positioning Status Word (PSW)
FALSE
TRUE
b0
Calibrated
b1
Position Reached
b2
Positioning Maximum Speed
FB Low area &
Position Reached
FB High area &
Position Reached
Master Follower Mode ON
b3
b4
b5
Comments
b6
b7
b8
Poitionin mode active
b9
Calibration Input
b10
Synchronizing Error
b11
Warning Low End
b12
Warning High End
b13
Out Of Area
b14
Run Enable Low End
b15
Make new calibration
Run Enable High End
Table 5-6. Positioning Status Word
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5.2.3
b0
b1
b2
b3
b4
b5
b6
b7
b8
b9
b10
b11
b12
b13
b14
b15
Synchronize Positioning Application – Parameter lists
FBGeneralStatusWord
FALSE
TRUE
Not Reasy
Ready
Stop
Run
No Fault
Fault
No Warning
Warning
Comments
Calibrated
Position reached
Positioning ON
Synchronize error
Out of Area
Table 5-7. FBGeneralStatusWord
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Synchronize Positioning Application – Parameter lists
5.3
vacon • 11
Basic parameters (Control keypad: Menu M2 Æ G2.1)
Code
P2.1.1
Parameter
Min frequency
Min
0,00
Max
Par. 2.1.2
Unit
Hz
Default
0,00
Cust
ID
101
P2.1.2
Max frequency
Par. 2.1.1
320,00
Hz
50,00
102
P2.1.3
P2.1.4
P2.1.5
Acceleration time 1
Deceleration time 1
Current limit
0,01
0,01
0,0
300,00
300,00
2 x IH
s
s
A
103
104
107
P2.1.6
Nominal voltage of
the motor
180
690
V
3,00
3,00
IL
NX2: 230V
NX5: 400V
NX6: 690V
P2.1.7
Nominal frequency
of the motor
8,00
320,00
Hz
50,00
111
P2.1.8
Nominal speed of
the motor
24
20 000
rpm
1440
112
P2.1.9
Nominal current of
the motor
0,2 x IH
2 x IH
A
IH
113
2.1.10
Motor cosϕ
0,30
1,00
0,85
120
2.1.11
I/O reference
0
3
0
117
2.1.12
Keypad control
reference
0
3
2
121
2.1.13
Fieldbus control
reference
0
3
3
122
2.1.14
Position Reference
Selector
0
3
2
1548
2.1.15
Preset speed 1
0,00
Par. 2.1.2
10,00
105
Hz
Note
NOTE: If fmax > than the
motor synchronous
speed, check suitability
for motor and drive
system
110
Check the rating plate
of the motor
The default applies for a
4-pole motor and a
nominal size frequency
converter.
Check the rating plate
of the motor.
Check the rating plate
of the motor
0=AI1
1=AI2
2=Keypad
3=Fieldbus
0=AI1
1=AI2
2=Keypad
3=Fieldbus
0=AI1
1=AI2
2=Keypad
3=Fieldbus
0=Din Sel. Position Ref.
1=AI Position Ref.
2=FB Position Ref.
3=Master Position Ref.
Speeds preset by
operator
Table 5-8. Basic parameters G2.1
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5.4
Synchronize Positioning Application – Parameter lists
Input signals (Control keypad: Menu M2 Æ G2.2)
5.4.1
Code
Basic Settings (Control keypad: Menu M2 Æ G2.2.1)
Parameter
Min
Max
Unit
Default
Cust
ID
300
0
1
2
3
4
5
6
P2.2.1.1
Start/Stop logic
0
6
0
P2.2.1.2
Current reference
offset
0
1
1
302
P2.2.1.3
Reference scaling
minimum value
0,00
par. 2.2.5
Hz
0,00
303
P2.2.1.4
Reference scaling
maximum value
0,00
320,00
Hz
0,00
304
P2.2.1.5
Reference inversion
0
1
0
305
P2.2.1.6
Reference filter time
0,00
10,00
0,10
306
P2.2.1.7
Position AI Sel
0.0
E.10
A.2
1549
s
Note
DIN1
Start fwd
Start/Stop
Start/Stop
Start pulse
Fwd*
Start*/Stop
Start*/Stop
DIN2
Start rvs
Rvs/Fwd
Run enable
Stop pulse
Rvs*
Rvs/Fwd
Run enable
0=0—20mA
1=4—20mA
Selects the frequency that
corresponds to the min.
reference signal
0,00 = No scaling
Selects the frequency that
corresponds to the max.
reference signal
0,00 = No scaling
0 = Not inverted
1 = Inverted
0 = No filtering
TTF programming method
used.
Table 5-9. Input signals, G2.2
* = Rising edge required to start
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Synchronize Positioning Application – Parameter lists
vacon • 13
Digital inputs (Control keypad: Menu M2 Æ G2.2.4)
5.4.2
Cust
Code
Parameter
Min
Default
P2.2.2.1
Run enable
0
0.1
407
P2.2.2.2
Reverse
0
0.1
412
P2.2.2.3
P2.2.3.4
P2.2.2.5
P2.2.2.6
Preset speed 1
Fault reset
External fault (close)
External fault (open)
0
0
0
0
A.3
A.1
0.1
0.2
419
414
405
406
P2.2.2.7
Acc/Dec time selection
0
A.6
408
P2.2.2.8
Control from I/O
terminal
0
0.1
409
P2.2.2.9
Control from keypad
0
0.1
410
P2.2.2.10
Control from fieldbus
0
0.1
411
P2.2.2.11
P2.2.2.12
P2.2.2.13
P2.2.2.14
P2.2.2.15
P2.2.2.16
P2.2.2.17
Positioning mode ON
Calibration
Select DIN Pos b0
Select DIN Pos b1
Select DIN Pos b2
Select DIN Pos b3
Select DIN Pos b4
0
0
0
0
0
0
0
A.5
A.6
0.1
0.1
0.1
0.1
0.1
1564
1566
1567
1568
1569
1570
1571
P2.2.2.18
External brake enable
0
0.1
1605
P2.2.2.19
P2.2.2.20
P2.2.2.21
P2.2.2.22
Run Enable Low End
Run Enable High End
Reset Calibration
Calibration Negative
Calibration Signal
Prohibited
Positioning Speed Group
2
0
0
0
0
0.1
0.1
A.4
0.1
1609
1608
1611
1612
0
0.1
1613
0
0.1
1563
P2.2.2.23
P2.2.2.24
ID
Note
Motor start enabled (cc)
Direction forward (oc)
Direction reverse (cc)
All faults reset (cc)
Ext. fault displayed (cc)
Ext. fault displayed (oc)
Acc/Dec time 1 (oc)
Acc/Dec time 2 (cc)
Force control place to I/O
terminal (cc)
Force control place to
keypad (cc)
Force control place to
fieldbus (cc)
Allows brake open
command
Table 5-10. Digital input signals, G2.2.4
5.4.3
Maximum Speed Scaling (Menu M2 Æ G2.2.3)
Code
Parameter
Min
Max
P2.2.3.1
High level speed
scaling input
0
3
0.00
P2.2.3.3
P2.2.3.2
P2.2.3.2
P2.2.3.3
P2.2.3.4
P2.2.3.5
cc = closing contact
oc = opening contact
High level speed 1
minimum
High level speed 1
maximum
High level speed 2
minimum
High level speed 2
maximum
Unit
Default
Cust
ID
0
1579
%
0.00
1582
200.00
%
100.00
1584
0.00
P2.2.3.5
%
0.00
1583
P2.2.3.4
200.00
%
100.00
1585
Note
0=Not Used
1=AI1
2=AI2
3=Fielbus
Positioning speed group
1 scaling minimum value
Positioning speed group
1 scaling maximum value
Positioning speed group
2 scaling minimum value
Positioning speed group
2 scaling maximum value
Table 5-11. Input signals, G2.2
* = Rising edge required to start
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5.5
Synchronize Positioning Application – Parameter lists
Output signals (Control keypad: Menu M2 Æ G2.3)
Code
Parameter
Min
Max
P2.3.1
Analogue output
function
0
8
0,00
10,00
0
P2.3.2
P2.3.3
P2.3.4
P2.3.5
P2.3.6
P2.3.7
P2.3.8
Analogue output
filter time
Analogue output
inversion
Analogue output
minimum
Analogue output
scale
Digital output 1
function
Relay output 1
function
Relay output 2
function
Unit
Default
Cust
ID
1
307
1,00
308
1
0
309
0
1
0
310
10
1000
100
311
s
%
Note
0=Not used
1=Output freq. (0—fmax)
2=Freq. reference (0—fmax)
3=Motor speed (0—Motor
nominal speed)
4=Motor current (0—InMotor)
5=Motor torque (0—TnMotor)
6=Motor power (0—PnMotor)
7=Motor voltage (0--UnMotor)
8=DC-link volt (0—1000V)
9=Ref position
10=Actual position
0=No filtering
0 = Not inverted
1 = Inverted
0 = 0 mA
1 = 4 mA
0
16
1
312
0=Not used
1=Ready
2=Run
3=Fault
4=Fault inverted
5=FC overheat warning
6=Ext. fault or warning
7=Ref. fault or warning
8=Warning
9=Reversed
10=Preset speed 1
11=At speed
12=Mot. regulator active
13=OP freq. limit 1 superv.
14=Control place: IO
15=Thermistor fault/warng
16=Fieldbus input data
17=Calibration OK
18=Position reached
19=High Level Speed
20=Mid Level Speed
21=Low Level Speed
22=Out of Area
23=Forbidden Area
24=Brake Off Control
0
16
2
313
As parameter 2.3.6
0
16
3
314
As parameter 2.3.6
0
315
0=No limit
1=Low limit supervision
2=High limit supervision
0,00
316
P2.3.9
Output frequency
limit 1 supervision
0
2
P2.3.10
Output frequency
limit 1;
Supervised value
0,00
320,00
Hz
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5
Synchronize Positioning Application – Parameter lists
P2.3.11
P2.3.12
P2.3.13
P2.3.14
P2.3.15
P2.3.16
Analogue output 2
signal selection
Analogue output 2
function
Analogue output 2
filter time
Analogue output 2
inversion
Analogue output 2
minimum
Analogue output 2
scaling
0
vacon • 15
0.1
471
TTF programming method
used.
4
472
As parameter 2.3.1
1,00
473
0=No filtering
0
8
0,00
10,00
0
1
0
474
0
1
0
475
10
1000
100
476
s
%
0=Not inverted
1=Inverted
0=0 mA
1=4 mA
Table 5-12. Output signals, G2.3
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16 • vacon
5.6
Synchronize Positioning Application – Parameter lists
Drive control parameters (Control keypad: Menu M2 Æ G2.4)
Code
Parameter
Min
Max
Unit
Default
Cust
ID
P2.4.1
Ramp 1 shape
0,0
10,0
s
0,0
500
P2.4.2
Ramp 2 shape
0,0
10,0
s
0,0
501
P2.4.3
P2.4.4
Acceleration time 2
Deceleration time 2
0,1
0,1
3000,0
3000,0
s
s
10,0
10,0
502
503
P2.4.5
Brake chopper
0
4
0
504
P2.4.6
Start function
0
1
0
505
P2.4.7
Stop function
0
3
0
506
P2.4.8
DC braking current
DC braking time
at stop
Frequency to start
DC braking during
ramp stop
DC braking time
at start
0,4 x IH
2 x IH
A
IH
507
0,00
30,000
s
0,000
508
0,10
10,00
Hz
1,50
515
0,00
30,000
s
0,000
516
P2.4.12
Flux brake
0
1
0
520
P2.4.13
Flux braking current
Automatic ramp
scaling
Ramp Scale
Frequency
0,4 x IH
2 x IH
IH
519
0
1
1
1572
Hz
50,00
1614
Unit
Default
0
P2.4.9
P2.4.10
P2.4.11
P2.4.14
P2.4.15
0,00
320,00
A
Note
0 = Linear
>0 = S-curve ramp time
0 = Linear
>0 = S-curve ramp time
0=Disabled
1=Used when running
2=External brake
chopper
3=Used when
stopped/running
4=Used when running (no
testing)
0=Ramp
1=Flying start
0=Coasting
1=Ramp
2=Ramp+Run enable
coast
3=Coast+Run enable
ramp
0 = DC brake is off at stop
0 = DC brake is off at
start
0 = Off
1 = On
Table 5-13. Drive control parameters, G2.4
5.7
Reserved
Code
P2.5.x
Parameter
Reserved
Min
0
Max
0
Cust
ID
Note
Table 5-14. Reserved parameters, G2.5
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Synchronize Positioning Application – Parameter lists
5.8
vacon • 17
Motor control parameters (Control keypad: Menu M2 Æ G2.6)
Code
Parameter
Min
Max
Unit
Default
Cust
ID
P2.6.1
Motor control mode
0
1/3
0
600
P2.6.2
U/f optimisation
0
1
0
109
P2.6.3
U/f ratio selection
0
3
0
108
Note
NXS:
0=Frequency control
1=Speed control
Additionally for NXP:
2=Torque control
3=Closed loop speed
ctrl
0=Not used
1=Automatic torque
boost
0=Linear
1=Squared
2=Programmable
3=Linear with flux
optim.
Field weakening
point
Voltage at field
weakening point
U/f curve midpoint
frequency
8,00
320,00
Hz
50,00
602
10,00
200,00
%
100,00
603
0,00
par.
P2.6.4
Hz
50,00
604
P2.6.7
U/f curve midpoint
voltage
0,00
100,00
%
100,00
605
n% x Unmot
Parameter max. value =
par. 2.6.5
P2.6.8
Output voltage at
zero frequency
0,00
40,00
%
Varies
606
n% x Unmot
P2.6.9
Switching frequency
1,0
Varies
kHz
Varies
601
P2.6.10
Overvoltage
controller
0
2
0
607
0
608
0,00
100,0
620
609
0
631
612
613
614
P2.6.4
P2.6.5
P2.6.6
0
1
P2.6.12
P2.6.13
Undervoltage
controller
Load drooping
Torque Limit
0,00
0,0
100,00
300,0
P2.6.14
Identification
0
1/2
P2.6.11
P2.6.15.1
P2.6.15.2
P2.6.15.3
P2.6.15.4
P2.6.15.5
P2.6.15.6
P2.6.15.7
P2.6.15.8
P2.6.15.9
Magnetizing current
0,00
Speed control P gain
0
Speed control I time
0,0
Acceleration
0,00
compensation
Slip adjust
0
Magnetizing current MotCurr
Min
at start
Magnetizing time at
0,0
start
0-speed time at start
0
0-speed time at stop
0
%
%
100,00
1000
500,0
A
ms
0,00
30
30,0
300,00
s
0,00
626
500
MotCurr
Max
%
100
619
A
0,00
627
30,000
s
0,000
628
32000
32000
ms
ms
100
100
615
616
n% x Unmot
See Error! Reference
source not found. for
exact values
0=Not used
1=Used (no ramping)
2=Used (ramping)
0=Not used
1=Used
0=No Action/Ready
1=ID W/O Run
2=ID Run (NXP)
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18 • vacon
Synchronize Positioning Application – Parameter lists
P2.6.15.10
Start-up torque
0
3
P2.6.15.11
P2.6.15.12
P2.6.15.13
Start-up torque FWD
Start-up torque REV
Encoder filter time
Current control
P gain
Stop State Flux
Flux Off Delay
–300,0
–300,0
0
300,0
300,0
1000
0,00
0,0
0
P2.6.15.14
P2.6.15.15
P2.6.15.16
0
621
%
%
ms
0,0
0,0
0
633
634
618
100,00
%
40,00
617
150,0
32000
%
s
100,0
0
1401
1402
0=Not used
1=Torque memory
2=Torque reference
3=Start-up torque
fwd/rev
Table 5-15. Motor control parameters, G2.6
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Synchronize Positioning Application – Parameter lists
5.9
vacon • 19
Protections (Control keypad: Menu M2 Æ G2.7)
Code
Parameter
Min
Max
P2.7.1
Response to 4mA
reference fault
0
5
0,00
Par. 2.1.2
0
P2.7.2
P2.7.3
4mA reference fault
frequency
Response to external
fault
Unit
Default
Cust
ID
0
700
0,00
728
3
2
701
Hz
P2.7.4
Input phase
supervision
0
3
0
730
P2.7.5
Response to
undervoltage fault
0
1
0
727
0
3
2
702
0
3
2
703
0
3
2
704
–100,0
100,0
%
0,0
705
0,0
150,0
%
40,0
706
1
200
min
45
707
0
100
%
100
708
P2.7.6
P2.7.7
P2.7.8
P2.7.9
P2.7.10
P2.7.11
P2.7.12
Output phase
supervision
Earth fault
protection
Thermal protection
of the motor
Motor ambient
temperature factor
Motor cooling factor
at zero speed
Motor thermal time
constant
Motor duty cycle
P2.7.13
Stall protection
0
3
P2.7.14
P2.7.15
P2.7.16
Stall current
Stall time limit
Stall frequency limit
0,1
1,00
1,0
InMotor x 2
120,00
Par. 2.1.2
P2.7.17
P2.7.18
P2.7.19
P2.7.20
P2.7.21
Underload protection
Field weakening
area load
Zero frequency load
Underload
protection time
limit
Response to
thermistor fault
0
3
10
150
5,0
2
0
A
s
Hz
0
709
IL
15,00
25,0
710
711
712
0
713
%
50
714
150,0
%
10,0
715
600
s
20
716
3
2
732
Note
0=No response
1=Warning
2=Warning+Previous
Freq.
3=Wrng+PresetFreq
2.7.2
4=Fault,stop acc. to
2.4.7
5=Fault,stop by coasting
0=No response
1=Warning
2=Fault,stop acc. to
2.4.7
3=Fault,stop by coasting
0=Fault
stored
in
history
1=Fault not stored
0=No response
1=Warning
2=Fault,stop acc. to
2.4.7
3=Fault,stop by coasting
0=No response
1=Warning
2=Fault,stop acc. to
2.4.7
3=Fault,stop by coasting
0=No response
1=Warning
2=Fault,stop acc. to
2.4.7
3=Fault,stop by coasting
0=No response
1=Warning
2=Fault,stop acc. to
2.4.7
3=Fault,stop by coasting
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20 • vacon
Code
P2.7.22
P2.7.23
P2.7.24
P2.7.25
P2.7.26
P2.7.27
P2.7.28
P2.7.29
P2.7.30
P2.7.31
P2.7.32
P2.7.33
P2.7.34
P2.7.35
P2.7.36
Synchronize Positioning Application – Parameter lists
Parameter
Response to
fieldbus fault
Response to slot
fault
Encoder fault
respoce
Gear ratio
Synchronization
fault mode
Synchronization
window
Synchronization
monitor also in
frequency control
Low rounds fault
limit
High rounds fault
limit
SystemBus
communication
fault delay
Out of Area
hysteresis
Out Of Area Stop
Mode
Warning area low
Warning area high
Warning area
speed
Min
Max
Unit
0
3
2
733
See P2.7.21
0
3
2
734
See P2.7.21
0
3
1
1616
See P2.7.21
0,00
320,00
1,0
1617
0
3
2
1619
0
32000
500
1618
0
1
0
1672
0
32000
r
0
1646
0
32000
r
4000
1648
0
30,00
s
3,00
1751
0
60000
15
1650
0
2
1
1575
0
0
60000
60000
100
100
1550
1607
0,00
320,00
5,00
1552
Hz
Default
Cust
ID
Note
0=No
1=Yes
Only for absolute
encoder
Only for absolute
encoder
0=Coasting
1=System defined
2=Ramping
Table 5-16. Protections, G2.7
5.10 Autorestart parameters (Control keypad: Menu M2 Æ G2.8)
Code
P2.8.1
P2.8.2
Parameter
Wait time
Trial time
Min
0,10
0,00
Max
10,00
60,00
P2.8.3
Start function
0
2
0
719
0
10
0
720
0
10
0
721
0
3
0
722
0
10
0
723
0
10
0
726
0
10
0
725
P2.8.4
P2.8.5
P2.8.6
P2.8.7
P2.8.8
P2.8.9
Number of tries after
undervoltage trip
Number of tries after
overvoltage trip
Number of tries after
overcurrent trip
Number of tries after
reference trip
Number of tries after
motor temperature
fault trip
Number of tries after
external fault trip
Unit
s
s
Default
0,50
30,00
Cust
ID
717
718
Note
0=Ramp
1=Flying start
2=According to par. 2.4.6
Table 5-17. Autorestart parameters, G2.8
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Synchronize Positioning Application – Parameter lists
vacon • 21
5.11 Positioning parameters (Control keypad: Menu M2 Æ G2.9)
Code
Parameter
Min
Max
P2.9.1
Panel positioning
Control Word
(PPCW)
0
10
Unit
Default
Cust
0
ID
1643
Note
0=No Action
1=Set Zero Position (ABS)
2=Set Total Rounds
3=Set Ref Offset Point
4=Save current position
5=Recall saved position (ModBus)
6=Calibrated (ABS)
7=Reset Calibration
8=Reset Position (INC)
9=Set INC Calibration Position
10=Set INC total rounds
Table 5-18. Panel Positioning Control Word parameters, G2.9
5.11.1
Code
P2.9.2.1
P2.9.2.2
P2.9.2.3
P2.9.2.4
P2.9.2.5
P2.9.2.6
P2.9.2.7
P2.9.2.8
P2.9.2.9
P2.9.2.10
P2.9.2.11
P2.9.2.12
P2.9.2.13
P2.9.2.14
Positioning Basic Settings (Menu M2 Æ G2.9.2)
Parameter
Min
Total Distance
0
Total rotations
0
Rotations decimals
0
High Level Speed
P2.9.2.6
Middle level speed
P2.9.2.7
distance
Middle level speed P2.9.2.8
Low level speed
P2.9.2.9
distance
Low level speed
0,00
Stop hysteresis
0
High level speed 2
P2.9.2.11
Middle level speed 2 P2.9.2.12
Low level speed 2
0,00
Teaching enabled
0
Automatic stop when
0
calibrated
Max
60000
65535
4
320,00
Unit
r
Dec.
Hz
Default
10000
100,0
1
50,00
Cust
ID
1500
1501
1502
1509
P2.9.2.1
2700
1506
P2.9.2.4
25,00
1508
P2.9.2.5
700
1505
P2.9.2.6
P2.9.2.7
P2.1.2
P2.9.2.10
P2.9.2.11
1
3,00
25
25,00
12,50
1,50
0
1507
1504
1512
1511
1510
1513
1
1610
Hz
Hz
Hz
1
Note
0=No
1=Yes
Table 5-19. Positioning basic settings parameters, G2.9.2
5.11.2
Code
P2.9.3.1
P2.9.3.2
P2.9.3.3
P2.9.3.4
Absolute encoder parameters (Menu M2 Æ G2.9.3)
Parameter
Zero revolution
Zero position
Target Offset
Automatic
calibration delay
Min
0
0
0
Max
32000
32000
30000
Unit
r
Dec
Default
0
0
0
0,00
10,00
s
2,00
Cust
ID
1627
1628
1637
Note
1752
Table 5-20. Absolute encoder parameters, G2.9.3
5.11.3
Code
P2.9.4.1
P2.9.4.1
Incremental encoder parameters (Menu M2 Æ G2.9.4)
Parameter
Calibration rounds
Calibration
fragments
Min
0
Max
65000
Unit
r
Default
0
0
65535
Dec
0
Cust
ID
1573
Note
1574
Table 5-21. Incremental encoder parameters, G2.9.4
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22 • vacon
Synchronize Positioning Application – Parameter lists
5.12 Fixed Positions parameters (Control keypad: Menu M2 Æ G2.10)
Code
P2.10.1
P2.10.2
P2.10.3
P2.10.4
P2.10.5
P2.10.6
P2.10.7
P2.10.8
P2.10.9
P2.10.10
P2.10.11
P2.10.12
P2.10.13
P2.10.14
P2.10.15
P2.10.16
P2.10.17
P2.10.18
P2.10.19
P2.10.20
P2.10.21
P2.10.22
P2.10.23
P2.10.24
P2.10.25
P2.10.26
P2.10.27
P2.10.28
P2.10.29
P2.10.30
P2.10.31
P2.10.32
Parameter
Position 0
Position 1
Position 2
Position 3
Position 4
Position 5
Position 6
Position 7
Position 8
Position 9
Position 10
Position 11
Position 12
Position 13
Position 14
Position 15
Position 16
Position 17
Position 18
Position 19
Position 20
Position 21
Position 22
Position 23
Position 24
Position 25
Position 26
Position 27
Position 28
Position 29
Position 30
Position 31
Min
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
P2.7.34
Max
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
P2.7.35
Unit
Default
100
100
438
776
1114
1452
1790
2128
2466
2803
3141
3479
3817
4155
4493
4831
5169
5507
5845
6183
6521
6859
7197
7534
7872
8210
8548
8886
9224
9562
9900
5000
Cust
ID
1545
1514
1515
1516
1517
1518
1519
1520
1521
1522
1523
1524
1525
1526
1527
1528
1529
1530
1531
1532
1533
1534
1535
1536
1537
1538
1539
1540
1541
1542
1543
1544
Note
Table 5-22. Fixed positions parameters parameters, G2.10
5.13 Brake Control parameters (Control keypad: Menu M2 Æ G2.11)
Code
P2.11.1
P2.11.2
P2.11.3
P2.11.4
P2.11.5
P2.11.6
P2.11.7
Parameter
Current limit
Torque limit
Frequency limit open
Brake opening delay
Frequency limit
close
Brake closing delay
Mechanical opening
delays
Min
0
0,0
0,00
0,00
Max
Varies
100,0
P2.1.7
10,00
Unit
A
%
Hz
s
Default
0
0
0
0
Cust
ID
1587
1588
1589
1590
0,00
P2.1.7
Hz
0
1591
0,00
10,00
s
0
1592
0,00
10,00
s
0
1594
Note
Table 5-23. Brake control parameters, G2.11
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Synchronize Positioning Application – Parameter lists
vacon • 23
5.14 Fieldbus parameters (Control Keypad: Menu M2 ÆG2.12)
Code
P2.12.1
P2.12.2
P2.12.3
P2.12.4
P2.12.5
P2.12.6
P2.12.7
P2.12.8
P2.12.9
P2.12.10
P2.12.11
P2.12.12
P2.12.13
P2.12.14
P2.12.15
P2.12.16
P2.12.17
P2.12.18
Parameter
Fieldbus data out 1
selection
Fieldbus data out 2
selection
Fieldbus data out 3
selection
Fieldbus data out 4
selection
Fieldbus data out 5
selection
Fieldbus data out 6
selection
Fieldbus data out 7
selection
Fieldbus data out 8
selection
Process data in 1
control ID
Process data in 2
control ID
Process data in 3
control ID
Process data in 4
control ID
Process data in 5
control ID
Process data in 6
control ID
Process data in 7
control ID
Process data in 8
control ID
FB low area point
FB high area point
Unit
Default
Cus
t
Min
Max
ID
0
10000
1634
852
0
10000
1553
853
0
10000
1701
854
0
10000
26
855
0
10000
3
856
0
10000
4
857
0
10000
1
858
0
10000
2
859
0
10000
0
1740
0
10000
0
1741
0
10000
0
1742
0
10000
0
1743
0
10000
0
1744
0
10000
0
1745
0
10000
0
1746
0
10000
0
1747
0
0
60000
60000
2550
7450
1760
1761
Note
Choose monitoring data
with parameter ID
Choose monitoring data
with parameter ID
Choose monitoring data
with parameter ID
Choose monitoring data
with parameter ID
Choose monitoring data
with parameter ID
Choose monitoring data
with parameter ID
Choose monitoring data
with parameter ID
Choose monitoring data
with parameter ID
Choose controlled data
with ID number
Choose controlled data
with ID number
Choose controlled data
with ID number
Choose controlled data
with ID number
Choose controlled data
with ID number
Choose controlled data
with ID number
Choose controlled data
with ID number
Choose controlled data
with ID number
PSW b3
PSW b4
Table 5-24. Fieldbus parameters
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24 • vacon
Synchronize Positioning Application – Parameter lists
5.15 SystemBus parameters (Control keypad: Menu M2 Æ G2.11)
Code
Parameter
Min
Max
P2.13.1
Master Follower
mode selection
0
2
0,00
3,00
0,00
10,00
0
P2.13.2
P2.13.3
P2.13.4
P2.13.5
P2.13.6
P2.13.7
Maximum ramp
correction
Maximum speed
correction
Follower position
reference selection
Master offset
Follower offset
Parameter selected
master follower
Unit
Default
Cust
ID
0
1622
s
0,50
1624
Hz
1,00
1631
3
3
1635
0
0
3000
3000
0
0
1640
1641
0
1
0
1644
Note
0=Not used
1=Parameter select
2=Master
3=Follower
Max Correction when
error = P2.7.27
Max Correction when
error = P2.7.27
0=Din Sel. Position Ref.
1=AI Position Ref.
2=FB Position Ref.
3=Master Position Ref
0= Follower
1= Master
Table 5-25. SystemBus parameters, G2.13
5.16 Keypad control (Control keypad: Menu M3)
The parameters for the selection of control place and direction on the keypad are listed below. See
the Keypad control menu in the Vacon NX User's Manual.
Code
Parameter
Min
Max
P3.1
Control place
1
3
R3.2
Keypad reference
Par.
2.1.1
Par. 2.1.2
P3.3
Direction (on keypad)
0
R3.4
Stop button
0
Unit
Default
Cust
ID
2
125
1
0
123
1
1
114
Note
0 = PC Control
1 = I/O terminal
2 = Keypad
3 = Fieldbus
Hz
0 = Forward
1 = Reverse
0=Limited function of Stop
button
1=Stop button always
enabled
Table 5-26. Keypad control parameters, M3
5.17 System menu (Control keypad: M6)
For parameters and functions related to the general use of the frequency converter, such as
application and language selection, customised parameter sets or information about the hardware
and software, see the product’s User's Manual.
5.18 Expander boards (Control keypad: Menu M7)
The M7 menu shows the expander and option boards attached to the control board and boardrelated information. For more information, see the product’s User's Manual.
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5
Description of parameters
6.
vacon • 25
Description of parameters
Application is based on one of All-In-One applications, see parameter description below ID 1500
from All-In-One application manual.
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7.
1548
Synchronise Positioning parameters
Synchronise Positioning parameters
Position reference select
With this parameter it’s possible to select where position reference is coming
0 = Digital input selection with fixed positions
1 = Analogue position reference
2 = Fieldbus position reference (Default)
3 = Master position reference
1549
Position reference analogue input
Select analogue input for position reference using TTF method.
1564
Positioning mode on/off
Select digital input to activate positioning mode from I/O.
1566
Calibration
Select digital input to give calibration command from I/O
1567
1568
1569
1570
1571
Digital input fixed reference B0
Digital input fixed reference B1
Digital input fixed reference B2
Digital input fixed reference B3
Digital input fixed reference B4
Select fixed position reference with a combination of digital inputs.
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Synchronise Positioning parameters
Code
P2.10.1
P2.10.2
P2.10.3
P2.10.4
P2.10.5
P2.10.6
P2.10.7
P2.10.8
P2.10.9
P2.10.10
P2.10.11
P2.10.12
P2.10.13
P2.10.14
P2.10.15
P2.10.16
P2.10.17
P2.10.18
P2.10.19
P2.10.20
P2.10.21
P2.10.22
P2.10.23
P2.10.24
P2.10.25
P2.10.26
P2.10.27
P2.10.28
P2.10.29
P2.10.30
P2.10.31
P2.10.32
Parameter
Position 0
Position 1
Position 2
Position 3
Position 4
Position 5
Position 6
Position 7
Position 8
Position 9
Position 10
Position 11
Position 12
Position 13
Position 14
Position 15
Position 16
Position 17
Position 18
Position 19
Position 20
Position 21
Position 22
Position 23
Position 24
Position 25
Position 26
Position 27
Position 28
Position 29
Position 30
Position 31
Min
Max
Unit
Digital input fixed reference Bx
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
P2.7.34
P2.7.35
vacon • 27
Default
100
100
438
776
1114
1452
1790
2128
2466
2803
3141
3479
3817
4155
4493
4831
5169
5507
5845
6183
6521
6859
7197
7534
7872
8210
8548
8886
9224
9562
9900
5000
Cust
ID
1545
1514
1515
1516
1517
1518
1519
1520
1521
1522
1523
1524
1525
1526
1527
1528
1529
1530
1531
1532
1533
1534
1535
1536
1537
1538
1539
1540
1541
1542
1543
1544
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
Note
2
0
0
0
0
1
1
1
1
0
0
0
0
1
1
1
1
0
0
0
0
1
1
1
1
0
0
0
0
1
1
1
1
2
0
0
1
1
0
0
1
1
0
0
1
1
0
0
1
1
0
0
1
1
0
0
1
1
0
0
1
1
0
0
1
1
4
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
Table 7-1.
1605
External brake enable
When input is FALSE brake will not open even if drive conditions are met
1609
1610
Run enable Low end
Run enable high end
If one of these input goes FALSE drive will stop immediately however it’s possible to
start the drive to run opposite direction where limit was opened.
1611
Digital input for calibration reset
Input for resetting calibration that it’s possible to make new calibration
1612
Calibration negative
Select digital input to give negative calibration command from I/O
1613
Input for prohibiting calibration signal
Prohibit calibration input command used when car needs to come from certain direction
to calibration point.
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1563
Synchronise Positioning parameters
Positioning speed group 2
Activates positioning speed group 2
1579
High level speed scaling input
With this input it’s possible to select positioning speed level scaling input
0 = Not used
1 = AI1
2 = A2
3 = Fielbus
1582
1584
1583
1585
High Speed 1 Scaling Min
High Speed 1 Scaling Max
High Speed 2 Scaling Min
High Speed 2 Scaling Max
With these parameter it’s possible to give different scaling values to both speed groups.
1572
Automatic ramp scaling
When switching from positioning group to other, function tries to scale frequency ramps
so, that deceleration is smoother. This function works best, when the frequencies of
speed groups are given in a same ratio.
1614
Ramp scale frequency
This is the frequency witch drive will ramp in times of P2.1.3 Acceleration time and
P2.1.4 Deceleration time.
1616
Encoder fault mode
This function will monitor that output frequency and encoder frequency are in same
level.
1617
Gear ratio
If encoder is after gear, here it’s possible to se gear ration that encoder monitoring will
work also in this case.
1619
Synchronising fault mode
When follower drive go beyond it’s positioning window here you can select proper
response for that.
0 = No response
1 = Warning
2 = Fault, stop mode after fault according to ID506
3 = Fault, stop mode after fault always by coasting
1618
Synchronising window
Positioning error when follower drive is out of positioning window.
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Synchronise Positioning parameters
1672
vacon • 29
Synchronising monitor for speed control
When drive is in speed controlled but still in master follower mode it possible to monitor
positioning error. Both drives mast have “Calibration OK”.
1646
1648
Low round fault
High round fault
When drive uses absolute encoder it’s possible to set fault limits when absolute encoder
information exceed these limits.
1571
System Bus fault delay
Delay until fault is carried out when communication is missing between master and
follower drive.
1650
Out of area hysteretic
Out of area fault is generated when actual position is more than total trip + this
parameter.
1575
Out of area stop mode
When out of area fault occurs here you can select the stop mode.
0 = Coasting
1 = System defined
1 = Ramping
1550
1607
Warning area low
Warning area high
When actual position is near end limit warning is generated and speed is dropped.
1552
Warning area speed
When actual position is in warning area speed is dropped to this value.
1643
Panel positioning control word
To this parameter have been gathered most common command
0=No Action
1=Set Zero Position (ABS)
Sets zero position information from absolute encoder to frequency converter
memory. This point is Zero actual position when using absolute encoder.
2=Set Total Rounds
When car is driven manually to high end here you can set the total rounds to memory.
If you are using incremental encoder remember to reset position in low end.
3=Set Ref Offset Point
Possibility to set different zero actual position when using FB control. Internal actual
position is FB Actual postion – this offset.
4=Save current position
Saves current position to memory for further use
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Synchronise Positioning parameters
5=Recall saved position (ModBus)
Recalls saved position to reference.
6=Calibrated (ABS)
When using absolute encoder you need to give separate information when drive is
calibrated after this dive will make automatic calibration during power up.
7=Reset Calibration
Resets calibration that it’s possible to make new calibration
8=Reset Position (INC)
Sets incremental rotations and fragments to zero that it’s possible to use PCW
command to define total rotations ans calibration position
9=Set INC Calibration Position
Stores rotations and fragments to memory from zero position to calibration position
10=Set INC total rounds
Stores total round to memory when using incremental encoder
1500
Total distance
Total distance units. Default 10000 = 100,00 % = Total rotations
1501
Total rotations
Number of rotations. From low end to high end. Value is UINT, select proper decimal
number with ID 1502
1502
Rotations decimal
Number of decimals in Total rotations. If you can use 2 decimal optimal accuracy is
1/100 of rotation when 1 decimal, accuracy is 1/10 or rotation.
1509
1506
1508
1505
1507
1504
1512
1511
1511
High level speed
Mid level speed distance
Mid level speed
Low level speed distance
Low level speed
Stop hysteric
High level speed 2
Mid level speed 2
Low level speed 2
See chapter 4 Position sequence
1513
Teaching
Teaching is possible after the calibration. Conveyor is driven to the wanted position and
position is set to memory by input “Calibration”. Position is stored to group G2.10, which
is selected with the combination of digital inputs.
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Synchronise Positioning parameters
1610
vacon • 31
Stop drive when pulses are calibrated
When drive receives rising edge of calibration input drive can be stopped automatically
with this parameter
1627
1628
Zero revolution
Zero position
Absolute encoder values in Low end
1637
Target offset
Adds some unit to reference e.g. mechanical zero point is different than operational zero
point.
1573
1574
Calibration round
Calibration fragments
Incremental position form low end to calibration point.
1587
Current limit
Motor current must exceed this value before brake is opened
1588
Torque limit
Motor torque must exceed this value before brake is opened
1589
Frequency limit open
Output frequency must exceed this value before brake is opened
1590
Brake opening delay
Delay for opening brake when limit are met.
1591
Frequency limit close
When frequency goes below this value brake is closed
1592
Brake closing delay
Delay for closing brake when limits are met.
1594
Mechanical delay
Delay for encoder monitor
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852 to
859
Synchronise Positioning parameters
Fieldbus data out selections 1 to 8
Using these parameters, you can monitor any monitoring or parameter value from the
fieldbus. Enter the ID number of the item you wish to monitor for the value of these
parameters.
Some typical values:
1
Output frequency
2
Motor speed
3
Motor current
4
Motor torque
5
Motor power
6
Motor voltage
7
DC link voltage
8
Unit temperature
9
Motor temperature
13
AI1
14
AI2
Table 2.
1740 to
1747
15
16
17
25
26
27
28
31
32
37
Digital inputs 1,2,3 statuses
Digital inputs 4,5,6 statuses
Digital and relay output statuses
Frequency reference
Analogue output current
AI3
AI4
AO1 (expander board)
AO2 (expander board)
Active fault 1
Fieldbus data IN selections 1 to 8
Using these parameters, you can control any monitoring or parameter value from the
fieldbus. Enter the ID number of the item you wish to control for the value of these
parameters.
1760
1761
Low area point
High area point
PSC b3 & b4
1622
Master/Follower selection
Select Master Follower mode
0 = No used
1 = Parameter selection
2 = Master
3 = Follower
1624
Maximum ramp correction
When position error between master and follower is equal to positioning window size
during acceleration and deceleration this is how much ramp is corrected.
1631
Maximum frequency correction
When position error between master and follower is equal to positioning window size
during level speed this is how much frequency reference is corrected.
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Synchronise Positioning parameters
1635
vacon • 33
Follower position reference
When drive is follower this selection is used for position reference
0 = Digital input selection with fixed positions
1 = Analogue position reference
2 = Fieldbus position reference
3 = Master position reference (Default)
1640
Master offset
Additional offset to follower for monitoring position error.
1641
Follower offset
Additional offset to follower for monitoring position error.
1644
Parameter selected master follower mode
0 = Follower
1 = Master
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7.1
Synchronise Positioning parameters
Keypad control parameters
Unlike the parameters listed above, these parameters are located in the M3 menu of the control
keypad. The reference parameters do not have an ID number.
114
Stop button activated
(3.4, 3.6)
If you wish to make the Stop button a "hotspot" which always stops the drive regardless
of the selected control place, give this parameter the value 1.
See also parameter ID125.
125
Control Place
(3.1)
The active control place can be changed with this parameter. For more information, see
the product’s User's Manual.
Pushing the Start button for 3 seconds selects the control keypad as the active control
place and copies the Run status information (Run/Stop, direction and reference).
123
Keypad Direction
0
1
(3.3)
Forward: The rotation of the motor is forward, when the keypad is the active
control place.
Reverse: The rotation of the motor is reversed, when the keypad is the active
control place.
For more information, see the product’s User's Manual
R3.2
Keypad Reference
(3.2)
The frequency reference can be adjusted from the keypad with this parameter.
The output frequency can be copied as the keypad reference by pushing the Stop button
for 3 seconds when you are on any of the pages of menu M3. For more information, see
the product’s User's Manual.
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vacon
8.
Synchronize Positioning
Page 35
Appendices
In this chapter you will find additional information on special parameter groups. Such groups are:
ƒ
ƒ
ƒ
ƒ
ƒ
ƒ
Parameters of External brake control with additional limits (Chapter 8.1)
Closed Loop parameters (Chapter 8.2)
Parameters of Motor thermal protection (Chapter 8.3)
Parameters of Stall protection (Chapter 8.4)
Parameters of Underload protection (Chapter 8.5)
Fieldbus control parameters (Chapter 8.6)
8.1
External brake control with additional limits (ID’s 315, 316, 346 to 349, 352, 353)
The external brake used for additional braking can be controlled through parameters ID315, ID316,
ID346 to ID349 and ID352/ID353. Selecting On/Off Control for the brake, defining the frequency or
torque limit(s) the brake should react to and defining the Brake-On/-Off delays will allow an
effective brake control. See Figure 8-1.
Torque limit
ID349
Frequency limit
ID347
START
STOP
Brake off
Brake on
Brake-off
delay;
ID352
Brake-on delay;
ID353
NX12k115.fh8
Figure 8-1. Brake control with additional limits
In Figure 8-1 above, the brake control is set to react to both the torque supervision limit (par. ID349)
and frequency supervision limit (ID347). Additionally, the same frequency limit is used for both
brake-off and brake-on control by giving parameter ID346 the value 4. Use of two different
frequency limits is also possible. Then parameters ID315 and ID346 must be given the value 3.
Brake-off: In order for the brake to release, three conditions must be fulfilled: 1) the drive must be
in Run state, 2) the torque must be over the set limit (if used) and 3) the output frequency must be
over the set limit (if used).
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Page 36
Synchronize Positioning
vacon
Brake-on: Stop command activates the brake delay count and the brake is closed when the output
frequency falls below the set limit (ID315 or ID346). As a precaution, the brake closes when the
brake-on delay expires, at the latest.
Note: A fault or Stop state will close the brake immediately without a delay.
See Figure 8-2.
It is strongly advisable that the brake-on delay be set longer than the ramp time in order to
avoid damaging of the brake.
No brake-off control
ID346
0-2
Brake-off ctrl, 2 limits
Brake-on/off crtl, 1 limit
3
4
TRUE
Output frequency ≥ ID347
ID348
0-2
3-4
No brake-off control
0-2
Brake-off ctrl,
torque limit
3
TRUE
Motor torque ≥ ID349
AND
OFFDELAY
COUNT
0-2
3
Brake off
Brake on
Run state
NOT
ONDELAY
COUNT
No Run request
Reversing
No run request
OR
No brake-on control
0-2
Brake-on ctrl, 2 limits
3
No brake-on control
0-3
ID315
AND
3
OR
OR
ID346
4
4
Brake-on/off crtl, 1 limit
ID316
0-3
ID347
4
Output frequency
Fault
≤
NX12k114.fh8
Figure 8-2. Brake control logic
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vacon
8.2
Synchronize Positioning
Page 37
Closed loop parameters (ID’s 612 to 621)
Select the Closed loop control mode by setting value 3 or 4 for parameter ID600.
Closed loop control is used when enhanced performance near zero speed and better static speed
accuracy with higher speeds are needed. Closed loop control mode is based on "rotor flux oriented
current vector control". With this controlling principle, the phase currents are divided into a torque
producing current portion and a magnetizing current portion. Thus, the squirrel cage induction
machine can be controlled in a fashion of a separately excited DC motor.
Note: These parameters can be used with Vacon NXP drive only.
EXAMPLE:
Motor Control Mode = 3 (Closed loop speed control)
This is the usual operation mode when fast response times, high accuracy or controlled
run at zero frequencies are needed. Encoder board should be connected to slot C of the
control unit. Set the encoder P/R-parameter (P7.3.1.1). Run in open loop and check the
encoder speed and direction (V7.3.2.2). Change the direction parameter (P7.3.1.2) or switch
the phases of motor cables if necessary. Do not run if encoder speed is wrong. Program
the no-load current to parameter ID612 and set parameter ID619 (Slip Adjust) to get the
voltage slightly above the linear U/f-curve with the motor frequency at about 66% of the
nominal motor frequency. The Motor Nominal Speed parameter (ID112) is critical. The
Current Limit parameter (ID107) controls the available torque linearly in relative to motor
nominal current.
8.3
Parameters of motor thermal protection (ID’s 704 to 708):
General
The motor thermal protection is to protect the motor from overheating. The Vacon drive is capable
of supplying higher than nominal current to the motor. If the load requires this high current there is
a risk that the motor will be thermally overloaded. This is the case especially at low frequencies. At
low frequencies the cooling effect of the motor is reduced as well as its capacity. If the motor is
equipped with an external fan the load reduction at low speeds is small.
The motor thermal protection is based on a calculated model and it uses the output current of the
drive to determine the load on the motor.
The motor thermal protection can be adjusted with parameters. The thermal current IT specifies the
load current above which the motor is overloaded. This current limit is a function of the output
frequency.
The thermal stage of the motor can be monitored on the control keypad display. See the product’s
User's Manual.
!
CAUTION!
The calculated model does not protect the motor if the airflow to the
motor is reduced by blocked air intake grill.
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Page 38
8.4
Synchronize Positioning
vacon
Parameters of Stall protection (ID’s 709 to 712):
General
The motor stall protection protects the motor from short time overload situations such as one
caused by a stalled shaft. The reaction time of the stall protection can be set shorter than that of
motor thermal protection. The stall state is defined with two parameters, ID710 (Stall current) and
ID712 (Stall frequency limit). If the current is higher than the set limit and output frequency is lower
than the set limit, the stall state is true. There is actually no real indication of the shaft rotation.
Stall protection is a type of overcurrent protection.
8.5
Parameters of Underload protection (ID’s 713 to 716):
General
The purpose of the motor underload protection is to ensure that there is load on the motor when the
drive is running. If the motor loses its load there might be a problem in the process, e.g. a broken
belt or a dry pump.
Motor underload protection can be adjusted by setting the underload curve with parameters ID714
(Field weakening area load) and ID715 (Zero frequency load), see below. The underload curve is a
squared curve set between the zero frequency and the field weakening point. The protection is not
active below 5Hz (the underload time counter is stopped).
The torque values for setting the underload curve are set in percentage which refers to the nominal
torque of the motor. The motor's name plate data, parameter motor nominal current and the drive's
nominal current IH are used to find the scaling ratio for the internal torque value. If other than
nominal motor is used with the drive, the accuracy of the torque calculation decreases.
8.6
Fieldbus control parameters (ID’s 850 to 859)
The Fieldbus control parameters are used when the frequency or the speed reference comes from
the fieldbus (Modbus, Profibus, DeviceNet etc.). With the Fieldbus Data Out Selection 1…8 you can
monitor values from the fieldbus.
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vacon
9.
Synchronize Positioning
Page 39
Faults and fault codes
When a fault is detected by the frequency converter control electronics, the drive is stopped
and the symbol F together with the ordinal number of the fault, the fault code and a short
fault description appear on the display. The fault can be reset with the Reset button on the
control keypad or via the I/O terminal. The faults are stored in the Fault History menu,
which can be browsed. The different fault codes you will find in the table below.
Shadowed rows are the A- faults (alarms) and black rows are F- faults (fault). Texts on the
white base could be both A- and F- faults.
The fault codes and their possible causes are presented in the table below.
Fault
code
1
Fault
Possible cause
Overcurrent
2
Overvoltage
Frequency converter has detected too
high a current (>4*In) in the motor cable:
- sudden heavy load increase
- short circuit in motor cables
-- unsuitable motor
The DC-link voltage has exceeded the
limits.
- too short a deceleration time
- high overvoltage spikes in utility
Current measurement has detected that
the sum of motor phase current is not
zero.
insulation failure in cables or motor
The charging switch is open, when the
START command has been given.
- faulty operation
- component failure
Stop signal has been given from the
option board.
Defective component
Action
Check loading.
Check motor.
Check cables.
Make the deceleration time longer. Use
brake chopper or brake resistor
(available as options)
3
Earth fault
5
Charging
switch
6
7
Emergency
stop
Saturation trip
8
Unknown fault
The frequency converter troubleshooting
system is unable to locate the fault.
9
Undervoltage
DC-link voltage is under the voltage limits
defined in Table 4-2 of the Vacon NX
User's Manual.
Most probable causes:
- too low a supply voltage
- frequency converter internal fault
Reset the fault and restart.
Should the fault re-occur, contact the
distributor near to you.
In case of temporary supply voltage
break reset the fault and restart the
frequency converter. Check the supply
voltage. If it is adequate, an internal
failure has occurred.
Contact the distributor near to you.
10
Input line
supervision
Output phase
supervision
Input line phase is missing.
Check supply voltage and cable.
Current measurement has detected that
there is no current in one motor phase.
Check motor cable and motor.
11
Check motor cables and motor.
Reset the fault and restart.
Should the fault re-occur, contact the
distributor near to you.
Cannot be reset from the keypad.
Switch off power. If this does not help
contact the distributor near to you.
24-hour support +358 (0)40 837 1150 • Email: [email protected]
9
Page 40
Synchronize Positioning
12
Brake chopper
supervision
-
13
Frequency
converter
undertemperature
Frequency
converter
overtemperatur
e
Heatsink temperature is under –10°C
Motor stalled
Motor
overtemperatur
e
Motor
underload
EEPROM
checksum fault
Motor stall protection has tripped.
Motor overheating has been detected by
frequency converter motor temperature
model. Motor is overloaded.
Motor underload protection has tripped.
14
15
16
17
22
23
no brake resistor installed
brake resistor is broken
brake chopper failure
vacon
Check brake resistor.
If the resistor is ok, the chopper is
faulty. Contact the distributor near to
you.
Heatsink temperature is over 90°C.
Overtemperature warning is issued when
the heatsink temperature exceeds 85°C.
- parameter save fault
- faulty operation
- component failure
Changes may have occurred in the
different counter data due to mains
interruption
- faulty operation
- component failure
Check the correct amount and flow of
cooling air.
Check the heatsink for dust.
Check the ambient temperature.
Make sure that the switching frequency
is not too high in relation to ambient
temperature and motor load.
Check motor.
Decrease the motor load.
If no motor overload exists, check the
temperature model parameters.
24
Changed data
warning
25
Microprocessor
watchdog fault
29
Thermistor
fault
Thermistor is broken.
Reset the fault and restart.
Should the fault re-occur, contact the
distributor near to you.
32
Fan cooling
Contact the distributor near to you.
34
36
CAN bus
communication
Control unit
Cooling fan of the frequency converter
does not start, when ON command is
given
Sent message not acknowledged.
37
Device change
38
Device added
39
Device removed
40
Device
unknown
NXS Control Unit can not control NXP
Power Unit and vice versa
Option board changed.
Different power rating of drive.
Option board added.
Drive of different power rating added.
Option board removed.
Drive removed.
Unknown option board or drive.
Reset the fault and restart.
Should the fault re-occur, contact the
distributor near to you.
Ensure that there is another device on
the bus with the same configuration.
Change the control unit.
Reset
Note: No fault time data record!
Reset
Note: No fault time data record!
Reset
Note: No fault time data record!
Contact the distributor near to you.
Tel. +358 (0)201 2121 • Fax +358 (0)201 212 205
9
vacon
Synchronize Positioning
41
IGBT temperature
42
Brake resistor
overtemperature
43
Encoder fault
50
Analogue input
Iin < 4mA
(selected signal
range 4 to 20
mA)
51
52
External fault
Keypad
communication
fault
Fieldbus
communication
fault
Digital input fault.
The connection between the control
keypad and the frequency converter is
broken.
The connection from the fieldbus to the
frequency converter is broken.
54
SPI communication fault
The connection between the component
board and the control board is broken.
Check board and slot.
Contact the nearest Vacon distributor.
55
New calibration
Positioning area override
Make new calibration
53
IGBT Inverter Bridge overtemperature
protection has detected too high a short
term overload current
Too powerful braking.
Page 41
Note the exceptional Fault data record.
Additional codes:
1 = Encoder 1 channel A is missing
2 = Encoder 1 channel B is missing
3 = Both encoder 1 channels are missing
4 = Encoder reversed
Current at the analogue input is < 4mA.
- control cable is broken or loose
- signal source has failed
Check loading.
Check motor size.
Set the deceleration time longer.
Use external brake resistor.
Check encoder channel connections.
Check the encoder board.
Check the current loop circuitry.
Check keypad connection and possible
keypad cable.
Check installation.
If installation is correct contact the
nearest Vacon distributor.
Table 7- 1. Fault codes
24-hour support +358 (0)40 837 1150 • Email: [email protected]
9
Vaasa
Vacon Plc (Head office and production)
Runsorintie 7
65380 Vaasa
[email protected]
telephone: +358 (0)201 2121
fax: +358 (0)201 212 205
Vacon Traction Oy
Vehnämyllynkatu 18
33700 Tampere
telephone: +358 (0)201 2121
fax: +358 (0)201 212 710
Helsinki
Vacon Plc
Äyritie 12
01510 Vantaa
telephone: +358 (0)201 212 600
fax: +358 (0)201 212 699
Tampere
Vacon Plc
Vehnämyllynkatu 18
33700 Tampere
telephone: +358 (0)201 2121
fax: +358 (0)201 212 750
sales companies and representative offices:
Austria
Vacon AT Antriebssysteme GmbH
Aumühlweg 21
2544 Leobersdorf
telephone: +43 2256 651 66
fax: +43 2256 651 66 66
Italy
Vacon S.p.A.
Via F.lli Guerra, 35
42100 Reggio Emilia
telephone: +39 0522 276811
fax: +39 0522 276890
Belgium
Vacon Benelux NV/SA
Interleuvenlaan 62
3001 Heverlee (Leuven)
telephone: +32 (0)16 394 825
fax: +32 (0)16 394 827
The Netherlands
Vacon Benelux BV
Weide 40
4206 CJ Gorinchem
telephone: +31 (0)183 642 970
fax: +31 (0)183 642 971
France
Vacon France s.a.s.
1 Rue Jacquard – BP72
91280 Saint Pierre du Perray CDIS
telephone: +33 (0)1 69 89 60 30
fax: +33 (0)1 69 89 60 40
Norway
Vacon AS
Langgata 2
3080 Holmestrand
telephone: +47 330 96120
fax: +47 330 96130
Germany
Vacon GmbH
Gladbecker Strasse 425
45329 Essen
telephone: +49 (0)201 806 700
fax: +49 (0)201 806 7099
PR China
Vacon Suzhou Drives Co. Ltd.
Blk 11A
428 Xinglong Street
Suchun Industrial Square
Suzhou 215126
telephone: +86 512 6283 6630
fax: +86 512 6283 6618
Great Britain
Vacon Drives (UK) Ltd.
18, Maizefield
Hinckley Fields Industrial Estate
Hinckley
LE10 1YF Leicestershire
telephone: +44 (0)1455 611 515
fax: +44 (0)1455 611 517
Russia
ZAO Vacon Drives
Bolshaja Jakimanka 31,
stroenie 18
109180 Moscow
telephone: +7 (095) 974 14 47
fax: +7 (095) 974 15 54
ZAO Vacon Drives
2ya Sovetskaya 7, office 210A
191036 St. Petersburg
telephone: +7 (812) 332 1114
fax: +7 (812) 279 9053
Singapore
Vacon Plc
Singapore Representative Office
102F Pasir Panjang Road
#02-06 Citilink Warehouse Complex
Singapore 118530
telephone: +65 6278 8533
fax: +65 6278 1066
Spain
Vacon Drives Ibérica S.A.
Miquel Servet, 2. P.I. Bufalvent
08243 Manresa
telephone: +34 93 877 45 06
fax: +34 93 877 00 09
Vacon Suzhou Drives Co. Ltd.
Beijing Office
A205, Grand Pacific Garden Mansion
8A Guanhua Road
Beijing 100026
telephone: +86 10 6581 3734
fax: +86 10 6581 3754
Sweden
Vacon AB
Torget 1
172 67 Sundbyberg
telephone: +46 (0)8 293 055
fax: +46 (0)8 290 755
Tel. +358 (0)201 2121 • Fax +358 (0)201 212 205
Vacon distributor: